Operating method for the operation of a revolving door

ABSTRACT

An operating method for a revolving door in which the peripheral velocity of the panels of the revolving door consists of a booster component provided by a drive motor and a force which must be applied to at least one of the panels of the revolving door.

CONTINUING APPLICATION DATA

This application is a continuation-in-part application of InternationalApplication No. PCT/DE94/01543, filed on Dec. 24, 1994, which claimspriority from Federal Republic of Germany Application No. P 44 03 565.9,filed on Feb. 7, 1994. International Application No. PCT/DE94/01543, waspending as of the filing date of this application and designated the USAas a designated state.

This application is also a continuation-in-part application ofInternational Application No. PCT/DE94/01459, filed on Dec. 8, 1994,which claims priority from Federal Republic of Germany Application No. P44 02 899.7, filed on Feb. 2, 1994. International Application No.PCT/DE94/01459, was pending as of the filing date of this applicationand designated the USA as a designated state.

CROSS-REFERENCE TO RELATED APPLICATION

The present application is directed to similar subject matter as thatdisclosed in U.S. patent application Ser. No. 08/538,160 currentlyentitled "Operating Apparatus for Controlling the Operation of aRevolving Door" (as amended) and filed on Oct. 2, 1995.

CONTINUING APPLICATION DATA

This application is a continuation-in-part application of InternationalApplication No. PCT/DE94/01543, filed on Dec. 24, 1994, which claimspriority from Federal Republic of Germany Application No. P 44 03 565.9,filed on Feb. 7, 1994. International Application No. PCT/DE94/01543, waspending as of the filing date of this application and designated the USAas a designated state.

This application is also a continuation-in-part application ofInternational Application No. PCT/DE94/01459, filed on Dec. 8, 1994,which claims priority from Federal Republic of Germany Application No. P44 02 899.7, filed on Feb. 2, 1994. International Application No.PCT/DE94/01459, was pending as of the filing date of this applicationand designated the USA as a designated state.

CROSS-REFERENCE TO RELATED APPLICATION

The present application is directed to similar subject matter as thatdisclosed in U.S. patent application Ser. No. 08/538,160 currentlyentitled "Operating Apparatus for Controlling the Operation of aRevolving Door" (as amended) and filed on Oct. 2, 1995.

DESCRIPTION OF THE INVENTION

1. Field of the Invention

The present invention relates to an operating method for the operationof a revolving door, in which the drive motor does not apply the entireforce for the rotational movement of the panels of the revolving door.Rather, the drive motor operates in a booster mode which is realized bya closed-loop/open-loop microprocessor control in connection with adrive unit which is operated according to a sensed user suppliedparameter such as, for example, a force or velocity. Since the drivemotor does not supply the entire drive force, an additional portion ofthe force required must be applied by at least one person who wishes topass through the revolving door. By means of continuous contact with atleast one of the panels of the revolving door, this person using thedoor exerts a force which is measured and transmitted to theopen-loop/closed-loop microprocessor control system. On the basis ofthis measured force, which is proportional to the speed of revolution,the open-loop/closed-loop microprocessor control system is able tocalculate a value on the basis of a sequential program for the boosterforce supplied by the drive motor, which is always less than the totalvalue of the force required. On such a power-assisted revolving door,the electronic safety mechanisms, such as sensors, photoelectric diodes,radar alarms, etc. which are conventionally required for safe operationof a power-driven revolving door can be eliminated. The revolving doorpanels, which are mounted centrally, are located inside two drum wallswhich, as a rule, are interrupted by entrances and exits which arelocated diametrically opposite one another.

2. Background Information

German Patent 39 34 662 A1 describes a revolving door which is equippedwith a safety circuit and a centrifugal mass which can be electronicallydecelerated or stopped. A programmable open-loop control system equippedwith a microprocessor controls the operation of the door and also makesit possible for the safety sensors and safety devices to guarantee asmooth operation of the door.

A revolving door which is controlled and regulated by a data processingunit, and on which all the functions, including the control and themicroprocessor, are internally and automatically monitored, is disclosedin German Patent DE 42 07 705. This door is characterized by almostcompletely automated operation, and in particular by the optimization ofthe operating safety of the user.

But in addition to the revolving doors described above, also known aredoors which are not equipped with a drive motor. These manually operatedrevolving doors are generally of limited diameter, since the personusing the door must manually set the panels of the revolving door inmotion by pushing them. But such an effort is difficult or evenimpossible for older persons or physically handicapped persons. Onaccount of the absence of drive systems, these manually operatedrevolving doors generally do not have any type of safety equipment. Buton account of these factors, they are also severely restricted in termsof size, so that they cannot be used in all locations and applicationswhere a revolving door might be appropriate. But if an automatedrevolving door is selected, then depending on the location where thedoor is to be installed, a complex and expensive system of sensors maybe necessary to guarantee the safety of the persons using the door.These safety mechanisms can include switch mats, sensor strips, lightbeam curtains, infrared and radar sensors as well as photoelectricdiodes. All these sensors, in themselves, make possible the safeoperation of such a revolving door. But on account of the high level ofsafety required of such a revolving door, the normal operation of thedoor can be interrupted by the functioning or even malfunctioning of allthese different safety systems, i.e. there are a good many emergencyshutdowns of the revolving door, which generally require manualintervention by a person trained in maintenance and repair of the door.The cost situation of an automated revolving door compared to a manuallyoperated revolving door without an electronic sensor system must also betaken into consideration.

OBJECT OF THE INVENTION

An object of the present intention is the provision of an operatingmethod for the open-loop and closed-loop control of a motor-drivenrevolving door which makes possible the elimination or reduction of thesafety sensors or safety devices to protect the user which are otherwisenecessary for the operation of such a door. Nevertheless, it must stillbe possible for physically handicapped persons and for older people tooperate the inventive revolving door without having to exert a greatdeal of force.

SUMMARY OF THE INVENTION

The invention teaches that this object can be accomplished if the dooris driven by an open-loop/closed loop microprocessor control system andis run only in a booster mode or servo operation by a drive unit inconnection with a drive motor. Since the drive motor only provides apower assist, at least one of the persons who wants to go through therevolving door must exert an additional force on one of the panels ofthe revolving door. This force applied in the direction of motion of thepanels of the revolving door is simultaneously an indicator that aperson is passing through the revolving door. The open-loop/closed-loopmicroprocessor control system thus recognizes that there is a speed ofrevolution of the panels, and for its part then makes certain that theelectric motor drive provides a boost for this speed of revolution. Thisboost can be explained as follows: On the basis of the measuredperipheral velocity and/or the acceleration of the panels of therevolving door caused by the manual force (actuation) applied by theperson using the door, the open-loop/closed-loop microprocessor controlsystem calculates a booster velocity, the magnitude of which is lessthan the peripheral velocity of the panels of the revolving door.

The total velocity of the panels of the revolving door is composed ofthe booster velocity generated by the drive motor, and the differencefrom the manual force and thus the velocity of the panel. After thebrief start-up phase of the door panel, i.e., after the effects offriction have been overcome, the force which must be supplied by theuser is significantly less than at the beginning of the actuation, or ona revolving door which is operated purely manually, because the drivemotor in this case provides a large part of the necessary power assist.It can thus be said that the manual force is proportional to thevelocity. When a large force is applied, the velocity of the door panelis high, and when a small force is applied, it is low. This relationshipmakes it clear that the total velocity of the door panels is a functionof two components, the manual velocity and the booster velocity providedby the electric motor. As a result of these requirements, it is possibleto keep the door panel from running away from the person using the door,because continuous contact with the door panel must be maintained sothat the speed of revolution of the door does not decrease.

But the boost provided by the drive motor requires control by asequential program which, for its part, requires information on thespeed of revolution of the panels of the revolving door and on thecurrent being supplied to the motor. For this reason, the speed ofrevolution must be measured, e.g., by an incremental sensor, atachometer generator or other means of measurement. The result is thentransmitted to the open-loop/closed-loop microprocessor control system,where it is processed on the basis of the program stored there. Theperipheral velocity of the panel of the revolving door is thereby usedto evaluate the speed curve, whereby the measured motor currentconsumption is an indicator for the dynamic performance (or controlresponse) of the motor.

The magnitude of the boost provided by the drive motor can be indicated,for example, as a percentage of the measured final value of theinstantaneous velocity. The amount of boost provided can be adjusted, sothat it is possible to regulate or to control the revolving door as afunction of the different locations in which the door can be installed,e.g., for doors with different diameters.

The operation of a revolving door of the type described above can thusbe considered in three phases:

1. Startup (ascending ramp);

2. Uniform motion, recognition of the disconnect point; and

3. Reduction of the velocity to zero.

The above discussed embodiments of the present invention will bedescribed further hereinbelow with reference to the accompanyingfigures. When the word "invention" is used in this specification, theword "invention" includes "inventions", that is, the plural of"invention". By stating "invention", the Applicants do not in any wayadmit that the present application does not include more than onepatentably and non-obviously distinct invention, and maintains that thisapplication may include more than one patentably and non-obviouslydistinct invention. The Applicants hereby assert that the disclosure ofthis application may include more than one invention, and, in the eventthat there is more than one invention, that these inventions may bepatentable and non-obvious one with respect to the other.

In summary, one aspect of the invention resides broadly in a method fordriving the rotation of a revolving door about a central axis of therevolving door in response to the entry of a user thereinto, therevolving door including the central axis, a plurality of door panelsextending radially outward from the central axis, a drive motor forsupplying a rotational torque to the revolving door, and a controlcircuit for controlling the torque supplied to the revolving door by thedrive motor, said method comprising the steps of:

sensing the magnitude of at least one of:

a force applied by the user to at least one of said plurality of doorpanels; and

a rotational velocity imparted by the user to said revolving door; and

operating said control circuit to cause said drive motor to supply arotational torque to said revolving door that corresponds to said sensedmagnitude of said at least one of said user applied force and said userimparted velocity.

Another aspect of the invention resides broadly in a method for drivingthe rotation of a revolving door about a central axis of the revolvingdoor in response to the entry of a user thereinto, the revolving doorincluding the central axis, a plurality of door panels extendingradially outward from the central axis, a drive motor for supplying arotational torque to the revolving door, and a control circuit forcontrolling the torque supplied to the revolving door by the drivemotor, said method comprising the steps of: sensing the magnitude of auser supplied parameter; and operating said control circuit to causesaid drive motor to supply a rotational torque to said revolving doorthat corresponds to said sensed magnitude of said user suppliedparameter.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is explained fully below, with reference to one possibleembodiment, which is illustrated schematically in the accompanyingdrawings.

FIG. 1 shows a revolving door in an overhead view.

FIG. 2 is a diagram of velocity/time.

FIG. 3 is an ascending ramp (acceleration).

FIG. 4 shows continuous motion and the detection of the disconnectpoint.

FIG. 5 is a diagram of force/time.

FIG. 6 is a diagram of energy/time.

FIG. 7 is a block diagram of the drive motor control unit.

FIG. 8 is also a block diagram, however illustrating the drive motorcontrol in more detail.

FIG. 9 is a flow chart illustrating the operation of the openloop/closed loop microprocessor control system.

FIG. 10 is another velocity vs. time diagram.

DESCRIPTION OF THE PREFERRED EMBODIMENT

FIG. 1 is a schematic illustration of a revolving door in an overheadview. Between two drum walls 2, there are panels 10, 11, 12 and 13 ofthe revolving door which are fastened rotationally at a center point.The panels 10, 11, 12 and 13 are connected to a drive motor 14 by meansof a drive wheel 36. To set the panels 10, 11, 12 or 13 in motion, apressure must be exerted by at least one person on at least one of thesepanels. Since the pressure or the force is proportional to the velocity,for purposes of simplicity, in the following embodiment, reference ismade primarily to the velocity. The increasing peripheral velocity ofthe panels 10, 11, 12 and 13 of the revolving doors follows aquasi-ascending ramp during the startup phase 8, as shown mostparticularly in FIGS. 2 and 3. The actual velocity 15, which increasesfrom zero to its final value and is initiated by manual contact,continues to increase as long as the person continues to exert a higherpressure on one of the panels 10, 11, 12 or 13. As the panels 10, 11, 12and 13 begin to revolve, the velocity is determined by a peripheralvelocity measurement device 34 (shown in FIG. 7), e.g., by means of anincremental sensor or a tachometer generator. The actual velocity isthereby measured cyclically, whereby the cycle time is adjustable. Atthe same time, an open-loop/closed-loop microprocessor control system 32is informed by means of a velocity monitor/detector 31 of a dooractivation system 30, that the door panels 10, 11, 12 and 13 are nolonger stationary. The velocity measurement device 34 then reports anychange in the velocity to the velocity monitor/detector 31 and thus tothe open-loop/closed-loop control system 32. This signal is an indicatorthat the drive motor 14 must be activated by means of a drive unit 33 ofthe open-loop/closed-loop control system 32, because the system does notrequire the person operating the door to reach the actual speed aloneand thus to apply all the force required. A power assist (37 in FIG. 2and 16 in FIG. 3) is thereby preferably realized by means of a pulsewidth modulation, which follows the curve of the actual speed 15 of theforce exerted manually in specified steps. But in any case, continuouscontact with the panel of the revolving door must be maintained. If thevelocity of the door panel increases, the level of the power assist 16will also increase up to a maximum value.

When a revolving door of the type described above is initially actuatedmanually, it runs through a learning cycle, during which is measures allthe necessary parameters of the door and stores them in a non-volatilememory. One of these parameters is also the current absorbed by thedrive motor 14. The current measurement device 35 thus continuouslyreports the instantaneous current absorbed by the drive motor 14 to theopen-loop/closed-loop control system 32.

When no increase in the current speed 15 of manual operation ismeasured, the open-loop/closed-loop microprocessor control system 32begins the phase of uniform motion. In this range, too, the power assistfunction continues to be provided, thereby boosting the speed at a levelbelow the actual speed of the door panels 10, 11, 12, 13.

This uniform motion is illustrated in FIG. 4, in which, in addition tothe velocity over time, the motor current (Im) is also plotted overtime. If the manual boost 17 is a uniform motion, then the magnitude ofthe motor current 20 is also uniform. If the motion is uniform, thevelocity is continuously measured by means of the velocity detectiondevice 34, and the current absorbed by the drive motor 14 is measured bymeans of the current measurement device 35. If the velocity of the doorpanels increases, an ascending ramp like the one illustrated in FIG. 3is established. But there are also restrictions which are integrated inthis mode of operation, which are specified by the determination of theparameters learned by the revolving door during its learning cycle. Forexample, if the current absorbed by the motor remains below a specifiedupper disconnect limit, the open-loop/closed-loop microprocessor controlsystem 32 performs only a monitoring of this condition, because theremaining portion of the required current speed must be applied by theperson using the door. But as soon as manual assistance is no longerbeing provided, i.e., if the manual assistance 18 were discontinued (asat 18 in FIG. 4), the system would detect a velocity decrease 19, whichwould in turn result in an increase of the current 21 absorbed by themotor. This increase of the absorbed current 21 is tolerated by theopen-loop/closed-loop microprocessor control system 32 until there is anintersection 1 with the parameters learned by the system, whichintersection 1 is specified by the program. If this point is reached,the disconnect limit of the motor current 21 is also reached, and aftera specified disconnect recognition time, the motor is brought to a stopby means of a descending coasting ramp 7, shown in FIG. 5. This coastingramp 7 imitates the normal coasting of a manual door, and like thestartup phase 8, is preferably realized by means of pulse widthmodulation, e.g., by a series of current pulses of decreasing timeduration. As a result of the detection of the fact the door is supposedto coast, the descending coating ramp 7 is carried out, because even inthe event of a direct disconnection of the drive motor 14, the motorwould continue to turn as the door coasted to a stop, which would inturn be detected by the velocity detection system 34 as a repeatedpassage of persons through the door, although that would not be thecase. On the basis of this method of operation, the sequence of motionsis realized just as in a manual door. If the door is no longer contactedby a person, after the decrease of the total energy of rotation, thedoor comes to a stop. The door can only be reactivated from the startingposition 29 by setting the panels 10, 11, 12 and 13 in motion, which isin turn detected by the door activation system 30 and reportedcorrespondingly to the open-loop/closed-loop microprocessor controlsystem 32. This illustrates that the servo assist is realized only inresponse to the exertion of a manual force, i.e., contact with one ofthe door panels 10, 11, 12, 13. The servo assist is thereby permanentlymonitored by the control software. As a result of this method ofoperation, it becomes clear that the sequence of motion in the servomode of such a revolving door corresponds to the manual operation of thedoor, and thus does not require any system of safety sensors for theperson operating the door.

On account of the method of operation described above, it is apparentthat a different pressure or even tension on one of the door panels willbe detected by the velocity measurement device 34 and also by thecurrent measurement device 35, and this interaction will be reflectedeither in a startup phase 8 or in a coasting ramp 7. It is therebyapparent that a change in velocity, but only an increase, is anindicator for the open-loop/closed-loop microprocessor control system 32to once again increase the peripheral velocity. On the other hand, thecurrent measurement is required to more precisely detect the disconnectpoint.

In the diagram in FIG. 2, which shows the velocity plotted over time,the start-up phase 8 is presented in the front area. With a certain lag,this start-up phase 8 follows the power assist 37 provided by the motorup to the point where the curve is deflected into the uniform velocity3. At the total velocity 9 it is apparent that the booster velocity 4 isalways less than the total speed, and thus the velocity difference 6μdeltaβv is the component of the velocity which must be supplied by theperson using the revolving door. If the uniform velocity ceases at point5, i.e., if contact with one of the panels 10, 11, 12 or 13 of therevolving door is interrupted, there is a decrease 19 in the velocity,and at the instant the open-loop/closed-loop microprocessor controlsystem 32 recognizes that this is a coasting ramp 7, the ramp is runaccording to the program, because the current 20 absorbed by the motorincreases on account of the absence of contact with the door panels, andthus the drive motor 14 must keep the door panels 10, 11, 12 and 13 inrotation all by itself. But since the drive motor 14 need not supply thetotal peripheral velocity, on account of the control program, thecoasting phase enters the coasting ramp 7.

In addition to the criterion of velocity as a control parameter,however, the force can also be measured, as illustrated in the diagramin FIG. 5. FIG. 5 illustrates the force to be applied plotted over time.During the startup phase 8, the force increases over time at a constantrate, until a uniform force 23 is exerted by one of the persons on thepanel of the revolving door. The total force 22 is thereby composed ofthe booster force 24 supplied by the drive motor 14 and the differentialforce 26 which must be supplied by the person. As with the considerationof the velocity, in this case, too, on account of the proportionalitybetween force and velocity, when the force 25 ceases, there is areduction of this velocity, and thus under the control of the sequentialprogram, the revolving door with its revolving panels 10, 11, 12 and 13makes the transition into the coasting ramp 7. For this application, itis also possible to take a measurement of the force directly on the doorpanel, e.g., using strain gauges.

On account of the computer program used, the open-loop/closed-loopmicroprocessor control system 32 is also able to calculate the energycontents. This situation is illustrated in FIG. 6, where the kineticenergy is plotted with respect to time. The maximum kinetic energy whichmust be supplied for the operation of the revolving door is supplied bythe motor energy 28, whereby the manual energy 27 required issignificantly less.

While the above embodiment has been described as one in which either auser applied force or a user imported velocity is sensed by the controlcircuit, in another embodiment, various other methods can be employed tosense the presence and/or movement, such as, for example, proximitydetectors, a change in capacitance, etc.

FIG. 8 shows additional control elements which may be included in oneembodiment of the invention. There, the drive unit 33, which controlsthe drive motor 14 may include control circuitry (e.g., either hardwired or in the form of portions of the program executed by theopen-loop/closed-loop microprocessor control system 32) as follows:

a ramp up control circuit 40 which, upon sensing either user importedvelocity of the door panels 10, 11, 12, 13, causes the drive motor 14 tobe operated so as to increase the drive torque supplied during aninitial limited period of time of increasing rotational velocity;

a limiting circuit 42 which limits the torque supplied by the drivemotor 14 to the revolving door so that it does not exceed a specifiedparameter of movement (e.g., rotational velocity, kinetic energy, etc.);and

a ramp down control circuit 44 which serves to operate the drive motor14 so as to decrease the torque supplied to the revolving door during alimited terminal period of time during which the rotational velocity ofthe revolving door is decreased.

In one embodiment, the ramp down control circuit 44 may includecircuitry for causing the rotational velocity of the revolving door todecrease in a manner which closely resembles the natural coasting to astop of a non-powered revolving door. This may be implemented, forexample, in the form of a so-called "look up table" in memory (e.g.,ROM), where the microprocessor control system 32 uses a measuredparameter (e.g., velocity) to access data stored in the memory tooperate the drive unit 33 such that the revolving door appears to coastto a natural stop.

Also shown in FIG. 8 is an initial activation switch 46, the state ofwhich, in one embodiment, is determined by the microprocessor controlsystem 32, which operates to supply torque to the revolving door only ifthe initial activation switch 46 has been actuated, regardless ofwhether any user applied force or user imported velocity has beendetected.

FIG. 9 is a flow chart illustrating the logic employed by themicroprocessor control unit 32 in controlling the rotational torquesupplied by the drive motor 14 to the revolving door in one possibleembodiment of the invention. Upon start up 50 of the control program,the microprocessor control unit 32 determines whether a User Signal,that is, for example, either a user applied force or a user impartedvelocity. Upon detection 52 of a User Signal, the microprocessor controlunit 32 determines the strength or magnitude of the User Signal (at 54)and, at 56, supplies a rotational torque, in the form of drive motorcurrent (Im) which corresponds to the magnitude of the User Signal, fora higher User Signal, more drive current (Im) being supplied.Additionally, during this stage of operation, the drive current (Im) issupplied in the form of a ramp-up (i.e., substantially steadilyincreasing velocity profile that closely parallels but is always lessthan the total rotational velocity of the revolving. The appropriatevelocity profile can be easily determined, for example, by accessing anemperically determined look-up table, etc.

The microprocessor control unit 32 determines (at 58) whether therotational velocity of the revolving door has reached a specified upperlimit: if so, a steady state operation is initiated at 60; and if not,the microprocessor control unit 32 determines whether the magnitude ofthe User Signal has decreased of the User Signal has decreased at 62.From both the steady state operation 60X 60 and the No output of thedecision 60X 62, the control program returns to determining themagnitude of the User Signal (at 54).

Upon a Yes determination from the decision 60X 62, the control programat least temporarily increases the drive motor current (Im) by a rathersmall amount (at 64), in the event the User needs additional assistance.The microprocessor 32 then determines whether the motor current (Im)exceeds a specified limit (at 66). If not, the control program jumpsback to the input of decision box 62. If the drive motor current (Im),the control program initiates (at 68) a ramp down velocity profile,which preferably substantially corresponds to the decreasing velocityprofile of an ordinary manual revolving door. During the ramp downperiod, the microprocessor also jumps back to decision box 52, so as todetect any new User Signal.

On the basis of the embodiments and the various measurement types andmethods described above it is apparent that a revolving door can beoperated according to the method of the present invention without anysystem of safety sensors for the persons using the door. The peripheralvelocity of the door panels 10, 11, 12 and 13 is determined solely andexclusively by the person using the door, i.e., if there are severalpersons in the individual spaces between the panels, the person whoexerts the maximum force on the door panel in front of him determinesthe maximum speed of revolution of the door panels. But it is alsopossible that another person, for whom the peripheral velocity of thedoor panel is then too great, may exert a braking action, e.g., bypulling back on the door panel in front of him. Consequently, theoverall peripheral speed of the door panels will be reduced.

On account of the requirement for constant contact on the door to bemaintained by the individual persons using the door, this method ofoperation can be considered equivalent to a manual revolving door.Consequently, the safety sensor system which would otherwise benecessary can be eliminated.

With regard to the sensor system installed on a revolving door, adistinction must be made between a sensor system for the normaloperation of a door and the safety sensor system. The operating sensorsystem can, for example, consist of a tachometer generator or anincremental sensor which measures the total velocity of the door panels.The safety sensor system is necessary for the safety of the persons whouse a motor-driven revolving door. This type of safety system canconsist of photoelectric barriers, infrared sensors, contact mats,sensor strips, radar devices, etc. All these safety sensors increase thecost of the revolving door enormously. With the operating method of thepresent invention, it is therefore possible to eliminate all thesesensors, while simultaneously guaranteeing safe operation of such adoor, thereby presenting the operator with an economical alternative toa revolving door operated on the basis of known methods.

The activation of the door from a stop need not be realized only bypressing on the panels, but a person can also actuate a switch, buttonor sensor to set the door in motion. But in that case, it is generallyessential to make contact with and apply pressure to one of the doorpanels 10, 11, 12 or 13, so that the force and thus the total velocityof the panels of the revolving door can be measured, so that the drivecan provide power assistance.

FIG. 10 is a schematic curve of the velocity of the door panel overtime.

As the result of a force exerted on at least one of the panels of thedoor, the door is placed in motion. On the basis of the startup ramp 8'stored in the open-loop/closed-loop microprocessor control system, thetotal velocity v_(m) increases up to point 3'. The total velocity,however, does not consist solely of the velocity provide by the personoperating the door, but also includes the velocity provided by theelectric motor, which contributes its share to the total velocity v_(m)with the curve 4' v_(u). Only the remainder of the force, from theassistance velocity v_(u) to the total velocity v_(m), is the Δv whichmust be supplied by the person. If the force applied by the person doesnot continue to increase, the curve makes a transition from the area ofthe startup ramp 8' into a uniform linear velocity of the revolving doorpanel, namely the velocity 9'. This velocity is maintained until, forexample, force is no longer applied to the door panel. As a result ofthe discontinuation of the force, the total velocity v_(m) decreases atpoint 10', because the person is no longer assisting the motion. Thelines of velocity 9' and 4' thus intersect at point 1', and on accountof the coasting ramp 7' stored in the open-loop/closed-loopmicroprocessor control system, the velocity of the door panel is reducedto zero. This deceleration according to the coasting ramp 7' imitatesthe deceleration of the panels of a purely manual revolving door.

If we consider the energy content of the areas underneath the curves, itis apparent that the kinetic energy provided by the drive system 5' isseveral times greater than the kinetic energy provided by the person 6'.Therefore the drive does not provide the full drive power, but onlyprovides assistance.

On an existing revolving door of known characteristics, the Δv isconstant, and can be indicated, for example, as a percentage of theassistance velocity v_(u) which must be applied manually, and is storedin a corresponding non-volatile memory, so that it can be processed bythe selected program. Regardless of the assistance velocity of the doorpanel which must be provided by manual force, the assistance velocity ofthe electric motor is a fixed component of the total velocity, so thatat low and high circumferential velocities of the door panel, there isalways a velocity difference, and the door does not run away from theperson using the door on account of the requirement of continuouspressure on the individual door panels. Following the brief startupphase, during which a greater force must be applied, a lower force issubsequently required to move the panels than is normally the case withrevolving doors which are operated purely manually. Nevertheless theperson pushing the door determines how fast the door panels should move.The electric motor provides assistance for the instantaneous velocity,but the assistance velocity of the door is always below the manuallyrequired or desired speed of rotation of the door panel. This assistancemode makes the door easy to operate, because only a slight force has tobe applied to actuate the door panel.

To start a stationary revolving door, as an alternative to the proceduredescribed above, the door can also be actuated by means of a contact,switch, button, by the detection of force by means of strain gauges, orby another suitable electrical or electronic sensor system. But pressuremust still then be applied to the door panel.

In this type of operation for a revolving door, it is necessary for theperson using the door to maintain continuous contact with the door panelduring the revolving motion of the door panel. If the direct contact isinterrupted, the velocity of the door panel decreases, and it begins tocoast to a stop. The coasting is produced by a deceleration curve orcoasting ramp which is stored in a memory, and which imitates thecoasting to a stop of a door which is operated manually.

When a constant force is exerted on the door panel, the door moves at aconstant velocity. If this force is increased, thereby increasing thevelocity, the Δv in the component remains the same, i.e., greaterassistance is provided by the electric motor. When the manual assistancedecreases, the motor support begins to turn off.

A revolving door which is operated on the basis of the method describedabove can be operated without safety sensors for the persons using thedoor. The total velocity is determined solely and exclusively by theperson using the door, i.e., if there are several persons inside thespace between the door panels, the person who exerts the greatest forceon his or her door panel determines the total velocity. But it is alsopossible for another person, for whom the total velocity is too high, toexert a braking action by holding back on the door panel in front ofhim, thereby reducing the total velocity of the revolving door. Theteaching of the invention, in accordance with at least one preferredembodiment, is thus not only that the velocity of the revolving door iscontrolled on the basis of the velocity determined of the person usingthe door, but also that there must simultaneously be continuous contactbetween this person and the door panel. That should generally beconsidered the equivalent of a manually operated revolving door.

With regard to the sensor system installed on a revolving door, adistinction must be made between a sensor system for the normaloperation of a door and the safety sensor system. The operating sensorsystem can, for example, consist of a tachometer generator or anincremental sensor which measures the total velocity of the door panels.The safety sensor system is necessary for the safety of the persons whouse a standard revolving door. This type of safety system can consist ofphotoelectric barriers, infrared sensors, contact mats, sensor strips,radar devices etc. All these safety sensors increase the cost of therevolving door enormously. With the operating method by the invention,it is therefore possible to eliminate all these sensors whilesimultaneously guaranteeing safe operation of such a door, therebypresenting the operator with an economical alternative to a revolvingdoor operated on the basis of known methods.

It is also conceivable that a person can actuate a switch, button orsensor to set the door in motion. But in that case, it is absolutelyessential to make contact with and apply pressure to one of the doorpanels, so that the force and thus the total velocity of the panels ofthe revolving door can be measured, so that the drive can provideassistance.

Some examples of the pressure sensing apparatuses and/or strain gaugeswhich may be incorporated into an embodiment of the present inventionare to be found in U.S. Pat. No. 5,241,308, entitled "Force SensitiveTouch Panel" and issued to Young on Aug. 31, 1993; U.S. Pat. No.5,191,798, entitled "Pressure sensor" and issued to Tabata et al. onMar. 9, 1993; U.S. Pat. No. 5,199,519, entitled "Strain Gauge Element"and issued to Polaert et al. on Apr. 6, 1993; U.S. Pat. No. 5,287,757,entitled "Strain-Gauge Transducer" and issued to Polaert et al. on Feb.22, 1994; U.S. Pat. No. 5,303,593, entitled "Strain Gauge Distributionfor Resistive Strain Gauge Pressure Sensor" and issued to Kremidas onApr. 19, 1994; and U.S. Pat. No. 5,186,060, issued to Marlier on Feb.16, 1993, all of these U.S. patents being hereby expressly incorporatedby reference herein.

Some examples of control systems which measure operating parameters andlearn therefrom are disclosed in U.S. Pat. No. 5,191,272, entitled"Method of Adjusting Gain for Motor Control" and issued to Torii et al.on Mar. 2, 1993; U.S. Pat. No. 5,223,820, entitled "Adaptive LampMonitor with Single Piece Sensor" and issued to Sutterlin et al. on Jun.29, 1993; and U.S. Pat. No. 4,655,188, issued to Tomisawa et al. on Apr.7, 1987, which U.S. patents are hereby expressly incorporated byreference herein.

Some examples of open-loop control circuits which may be incorporated inan embodiment of the present invention are to be found in U.S. Pat. No.5,210,473, entitled "System with delay timer for motor loadequalization" and issued to Backstrand on May 11, 1993; U.S. Pat. No.5,320,186, entitled "Draft Control System with Closed Loop Drop/RaiseRate Control" and issued to Strosser et al. on Jun. 14, 1994; and U.S.Pat. No. 5,369,342, entitled"Predictive Electric Motor PositioningDevice, Calibration System Therefor" and issued to Rudzewicz et al. onNov. 29, 1994, which U.S. patents are hereby incorporated by referenceherein.

Some examples of closed-loop control circuits which may be incorporatedin an embodiment of the present invention are to be found in U.S. Pat.No. 5,189,605, entitled "Control and Hydraulic System for a Liftcrane"and issued to Zuehlke et al. on Feb. 23, 1993; U.S. Pat. No. 5,223,072,entitled "Intelligent Servo-Controlled Fiber Placement MachineTensioner" and issued to Brockman et al. on Jun. 29, 1993; and U.S. Pat.No. 5,252,901, entitled "System for Controlling Locomotion of LeggedWalking Robot" and issued to Ozawa et al. on Oct. 12, 1993, which U.S.patents are hereby incorporated by reference herein.

Some examples of look up tables accessed by computers or microprocessorswhich may be incorporated in an embodiment of the present invention areto be found in U.S. Pat. No. 5,284,116, entitled "Vehicle ManagementComputer" and issued to Richeson, Jr. on Feb. 8, 1994; U.S. Pat. No.5,359,325, entitled "Automatic Monitoring System for Airfield LightingSystems" and issued to Ford et al. on Oct. 25, 1994; and U.S. Pat. No.5,371,537, entitled "Method and Apparatus for Automatically Calibratinga CRT Display" and issued to Bohan et al. on Dec. 6, 1994, which U.S.patents are hereby incorporated by reference herein.

Some examples of power modifying systems which may be incorporated intoan embodiment of the present invention are to be found in U.S. Pat. No.5,355,315 issued to Daido et al. on Oct. 11, 1994; U.S. Pat. No.5,224,564 issued to Duffy on Jul. 6, 1993; U.S. Pat. No. 5,218,769issued to Tranchon on Jun. 15, 1993; U.S. Pat. No. 5,255,755 issued toFu on Oct. 26, 1993; U.S. Pat. No. 5,201,818 issued to Nishimoto on Apr.13, 1993; and U.S. Pat. No. 5,205,371 issued to Karnopp on Apr. 27,1993, which U.S. patents are hereby expressly incorporated by referenceherein.

One feature of the invention resides broadly in the operating method forthe operation of a revolving door, the panels of which are driven by adrive motor which controls or regulates the operation according to ansequential program by means of an open-loop/closed-loop microprocessorcontrol system of a drive unit, characterized by the following features:that to start the revolving door, at least one person must apply amanual force in the direction of rotation on at least one of the panels10, 11, 12, 13 of the revolving door, that during the rotationalmovement of the door panels 10, 11, 12, 13, a continuous pressure mustbe maintained on at least one of the door panels 10, 11, 12, 13, thatthis force is proportional to the speed of revolution of the door panels10, 11, 12, 13, that the drive motor 14 is regulated so that it onlyprovides a boost for the drive force necessary to achieve the rotationalvelocity, whereby the total force is composed of the manual force andthe force applied by the drive unit 33.

Another feature of the invention resides broadly in the operating methodcharacterized by the fact that the speed of rotation of the door panels10, 11, 12, 13 is measured, and the result is transmitted for processingto the open-loop/closed-loop microprocessor control system 32.

Yet another feature of the invention resides broadly in the operatingmethod characterized by the fact that the current consumption of thedrive motor 14 is measured, and the measurement result is fed into acomputer program of the open-loop/closed-loop microprocessor controlsystem 32.

Still another feature of the invention resides broadly in the operatingmethod characterized by the fact that the startup of the revolving dooris initiated by the activation of a sensor system or switch, followingwhich at least one person must exert a manual force in the direction ofrotation on at least one of the door panels 10, 11, 12, 13.

A further feature of the invention resides broadly in the operatingmethod characterized by the fact that after the startup of the doorpanels 10, 11, 12, 13, the increasing speed of revolution corresponds toa startup ramp 8, the curve of which is determined by the programs runin the drive unit 33, but always remains below the startup ramp 8.

Another feature of the invention resides broadly in the operating methodcharacterized by the fact that if the manual force exerted on the doorpanel is interrupted or ceases, the current consumption of the drivemotor 14 increases, and a coasting ramp 7 is activated if it exceeds avalue specified by a sequential program.

Yet another feature of the invention resides broadly in the operatingmethod characterized by the fact that the coasting ramp 7 imitates thecoasting of a revolving door which is operated purely manually.

Still another feature of the invention resides broadly in the operatingmethod characterized by the fact that the coasting ramp 7 is realized bya pulse width modulation.

A further feature of the invention resides broadly in the operatingmethod characterized by the fact that if, during the coasting ramp 7, amanual force is once again applied to the door, the drive motor 14supplies the necessary booster force as a function of the level of themanual force applied to the door.

Another feature of the invention resides broadly in the operating methodcharacterized by the fact that the speed of revolution of the panels 10,11, 12, 13 is measured by means of an incremental sensor.

Yet another feature of the invention resides broadly in the operatingmethod characterized by the fact that the speed of revolution of thepanels 10, 11, 12, 13 is measured by means of a tachometer generator.

Still another feature of the invention resides broadly in the operatingmethod characterized by the fact that a positive change in the level offorce on at least one of the panels 10, 11, 12, 13 is detected as anindicator of an increase in the peripheral velocity, and the drive unit33 supplies a greater booster force.

A further feature of the invention resides broadly in the operatingmethod characterized by the fact that on the occasion of the initialmanual activation of the revolving door, the door performs a learningcycle, and thereby measures the relevant factors of the operation of therevolving door and stores them in a non-volatile memory.

Another feature of the invention resides broadly in the operating methodcharacterized by the fact that the booster force is determined on thebasis of the parameters of the operation of the revolving door, and ispermanently monitored by the open-loop/closed-loop microprocessorcontrol system 32.

Yet another feature of the invention resides broadly in the operatingmethod characterized by the fact that the manual force during theoperating phase is always less than the force required during thestart-up phase 8 to reach the peripheral velocity.

Still another feature of the invention resides broadly in the operatingmethod characterized by the fact that the speed of rotation or change inthe velocity of the panels 10, 11, 12, 13 produced by a person ismeasured, and this speed of rotation or change in speed is used as anindicator for the open-loop/closed-loop microprocessor control system 32of the drive unit 33, and the drive unit 33 provides a servo power boostwhich is always less than the total speed.

A further feature of the invention resides broadly in the operatingmethod characterized by the fact that at least one of the panels 10, 11,12, 13 is placed in rotation by a person, and the kinetic energycontained in the revolving panels 10, 11, 12, 13 is measured, and themeasurement is transmitted to an open-loop/closed-loop microprocessorcontrol system 32 of the drive unit 33.

Another feature of the invention resides broadly in the operating methodcharacterized by the fact that the kinetic energy is used as anindicator for the regulation of the drive motor 33, whereby the drivemotor 33 provides only a servo power boost which is always less than thetotal kinetic energy.

Yet another feature of the invention resides broadly in the operatingmethod characterized by the fact that in the vicinity of the revolvingdoor, there is no safety sensor system of the type otherwise requiredfor the safety of the persons using the door.

There is disclosed herein an operating method for the operation of arevolving door, the revolving panels of which are driven by an electricmotor, and which is controlled and regulated in terms of its propulsionand revolution by a microprocessor open-loop or closed-loop controlsystem respectively, but in which the electric motor does not apply theentire propulsion force, but only a portion of it, and the person who ispassing through the revolving door must exert a force on the door in theform of continuous contact with the revolving door panel, which force isnot applied by the electric motor, to maintain the speed of rotation ofthe revolving panel. The speed of rotation of the revolving panel ispreferably measured by means of an incremental sensor. The revolvingdoor panels, which are mounted centrally, are located inside two drumwalls which, as a rule, are interrupted by entrances and exits which arelocated diametrically opposite one another. A conventional electronicsafety system, e.g., sensors etc., is normally essential for the safeoperation of such a revolving door.

For the panels of a revolving door which is propelled by an electricmotor, a complex and expensive system of sensors is generally necessaryto ensure the safety of the persons using the door. This system canconsist of switch mats, sensor strips, light-beam curtains, infrared andradar sensors and photoelectric barriers. All these sensors, inthemselves, make possible the safe operation of such a revolving door.But because such safety sensor systems are increasingly integrated intothe revolving door itself, it can happen that the normal operation ofthe door can be interfered with by the functioning or evenmalfunctioning of all these different safety systems. That is, there area good many emergency shutdowns of the revolving door, which generallyrequire manual intervention by a person trained in maintenance andrepair of the door.

A known revolving door of the type described above is disclosed inEuropean Patent 0 340 771 A1. The individual door panels are fastened ina central area and are driven by a drive motor.

German Patent 39 34 662 A1 describes a revolving door which is providedwith a safety circuit and an electric inertial mass which can beelectrically decelerated or stopped. A programmable open-loop controlsystem equipped with a microprocessor controls the operation of the doorand also makes it possible for the safety sensors and devices toguarantee a smooth operation of the door.

In addition to the revolving doors described above, also known are doorswhich are not equipped with a drive motor. These manually operatedrevolving doors are generally of limited diameter, since the personusing the door must manually set the panels of the revolving door inmotion by pushing them. But such an effort is difficult or evenimpossible for older persons or physically handicapped persons. Onaccount of the absence of a drive systems, these manually operatedrevolving doors do not have any type of safety equipment, but they arealso severely restricted in terms of size.

The operating method for the open-loop and closed-loop control andregulation of a motor-driven revolving door which is disclosed hereinmakes it possible to eliminate the safety sensors or safety devices forthe user which are otherwise necessary for the operation of such a door.An additional basic requirement is that it must be possible forphysically handicapped persons and for older people to operate thisrevolving door without having to exert a great deal of force.

This object can be accomplished if the door is driven by anopen-loop/closed loop microprocessor control system and operates withthe electric propulsion system only in a quasi-assistance mode or servooperation, whereby the person using the door must also contribute to thepower assist. To set a revolving door of this type in motion, a manualforce in the direction of movement must be applied by the person usingthe door on at least one of the panels of the revolving door. As aresult of this manual force, the panels of the door are set in motion,and thus an acceleration is transmitted to the open-loop/closed loopmicroprocessor control system by the measurement results transmitted bythe incremental sensor. The open-loop microprocessor control systemthereby recognizes that the panels are experiencing a rotational motion,and then makes certain that the electric motor drive assists thisrotational velocity. This assistance can be explained as follows: Fromthe measured total velocity v_(m) of the panel of the door, or from theaccelerating power of the door panel, caused by the manual force(actuation force) exerted by the person using the door, theopen-loop/closed loop microprocessor control system calculates anassistance velocity v_(u), which is less than the total velocity v_(m)by an amount Δv. The following formula results for the assistancevelocity v_(u) of the panels of the revolving door:

    v.sub.u =v.sub.m -Δv

The total velocity v_(m) of the panels of the revolving door is composedof the assistance velocity v_(u) produced by the electric motor, and thedifference Δv from the manual force and thus the velocity of the panelv_(m), whereby after the brief start-up phase of the door panel, only asignificantly lower force needs to be applied by the user, whichcorresponds to the velocity Δv. It can thus be said that the manualforce is proportional to the velocity Δv. When a large force is applied,the velocity of the door panel is high, and when a small force isapplied, it is low. This relationship makes it clear that the totalvelocity of the door panels is a function of two components, the manualvelocity and the assistance velocity provided by the electric motor. Asa result of these requirements, it is possible to keep the door panelfrom running away from the person, because continuous contact with thedoor panel is necessary to keep the door panel in motion.

To create a control system in which the electric motor operates in anassistance mode, it is necessary for the total velocity of the doorpanel v_(m) to be measured by the incremental sensor, and processed onthe basis of a selected program in the open-loop/closed loopmicroprocessor control system.

It is apparent that v_(u) will always be less than the total velocityv_(m). The value of Δv can thereby be set, so that it is possible toregulate or to control the revolving door as a function of the sitewhere it is installed, so that the assistance mode is set to a levelwhich is appropriate for the persons using the door. Such a measure maybe necessary in particular on doors which have different diameters.

Thus, there has been disclosed an operating method for the operation ofa revolving door, in which an electric motor provides an assistance modewhich supplies assistance so that the manual force applied by a personto a panel of the revolving door is reduced by a Δv, and thus the personusing the door need only apply a slight additional force.

In further recapitulation, there is disclosed herein apparatus fordriving the rotation of a revolving door about a central axis of therevolving door in response to the entry of a user thereinto, therevolving door including the central axis, a plurality of door panelsextending radially outward from the central axis, a drive motor forsupplying a rotational torque to the revolving door, and a controlcircuit for controlling the torque supplied to the revolving door by thedrive motor, said apparatus comprising: means for sensing the magnitudeof at least one of: a force applied by the user to at least one of saidplurality of door panels; and a rotational velocity imparted by the userto said revolving door; and means for operating said control circuit tocause said drive motor to supply a rotational torque to said revolvingdoor that is substantially proportional to said sensed magnitude of saidat least one of said user applied force and said user imparted velocity.

There is also disclosed herein apparatus for driving the rotation of arevolving door about a central axis of the revolving door in response tothe entry of a user thereinto, the revolving door including the centralaxis, a plurality of door panels extending radially outward from thecentral axis, a drive motor for supplying a rotational torque to therevolving door, and a control circuit for controlling the torquesupplied to the revolving door by the drive motor, said apparatuscomprising: means for sensing the magnitude of a user suppliedparameter; and means for operating said control circuit to cause saiddrive motor to supply a rotational torque to said revolving door that issubstantially proportional to said sensed magnitude of said usersupplied parameter.

Further examples of general components relating to revolving doors maybe found in the following patent publications: Federal Republic ofGermany 4 124 282 (Dorma GbmH); Federal Republic of Germany 3 934 662(Gallenschutz Metallbau GmbH); Federal Republic of Germany 4 207 705(Dorma GmbH); U.S. Pat. No. 4,581,849 (Schwarz); U.S. Pat. No. 4,154,023(Carroll); and U.S. Pat. No. 4,952,080 (Boiucaner et al.).

The components disclosed in the various publications, disclosed orincorporated by reference herein, may be used in the embodiments of thepresent invention, as well as, equivalents thereof.

The appended drawings in their entirety, including all dimensions,proportions and/or shapes in at least one embodiment of the invention,are accurate and to scale and are hereby included by reference into thisspecification.

All, or substantially all, of the components and methods of the variousembodiments may be used with at least one embodiment or all of theembodiments, if more than one embodiment is described herein.

All of the patents, patent applications and publications recited herein,and in the Declaration attached hereto, are hereby incorporated byreference as if set forth in their entirety herein.

The corresponding foreign and international patent publicationapplications, namely, Federal Republic of Germany Patent Application No.P 44 03 565.9, filed on Feb. 7, 1994, and International PatentApplication No. PCT/DE94/01543, filed on Dec. 24, 1994, having inventorsJurgen Stark and Steffen Strunk, and DE-OS P 44 03 565.9 and DE-PS P 4403 565.9 and International Application No. PCT/DE94/01543, as well astheir published equivalents, and other equivalents or correspondingapplications, if any, in corresponding cases in the Federal Republic ofGermany and elsewhere, and the references cited in any of the documentscited herein, are hereby incorporated by reference as if set forth intheir entirety herein.

The details in the patents, patent applications and publications may beconsidered to be incorporable, at applicant's option, into the claimsduring prosecution as further limitations in the claims to patentablydistinguish any amended claims from any applied prior art.

The invention as described hereinabove in the context of the preferredembodiments is not to be taken as limited to all of the provided detailsthereof, since modifications and variations thereof may be made withoutdeparting from the spirit and scope of the invention.

What is claimed is:
 1. A method for driving a rotation of a revolvingdoor about a central axis of the revolving door in response to the entryof a user thereinto, the revolving door including the central axis, aplurality of door panels extending radially outward from the centralaxis, a drive motor for supplying a rotational torque to the revolvingdoor, and a control circuit for controlling the rotational torquesupplied to the revolving door by the drive motor, said methodcomprising the steps of:sensing a magnitude of at least one of:a userapplied force applied by the user to at least one of said plurality ofdoor panels; and a user imparted rotational velocity imparted by theuser to said revolving door; to produce a sensed magnitude of at leastone of a user applied force and a user imparted rotational velocity; andoperating said control circuit to cause said drive motor to supply arotational torque to said revolving door that corresponds to said sensedmagnitude of said at least one of said user applied force and said userimparted rotational velocity.
 2. The method for driving a rotation of arevolving door according to claim 1, said method further comprising theadditional step of:operating said control circuit to cause said drivemotor to supply a rotational torque to said revolving door whichsubstantially steadily increases over time.
 3. The method for driving arotation of a revolving door according to claim 2, said method furthercomprising the additional step of:operating said control circuit tolimit the rotational torque supplied to said revolving door such thatsaid revolving door does not exceed a specified parameter of movement.4. The method for driving a rotation of a revolving door according toclaim 3, said method further comprising the additional stepsof:determining from said sensed magnitude of said at least one of saiduser applied force and said user imparted rotational velocity, when saidat least one of said user applied force and said user impartedrotational velocity is substantially terminated; and upon saiddetermining of said substantial termination of said at least one of saiduser applied force and said user imparted rotational velocity, operatingsaid control circuit to cause said drive motor to decrease over time therotational torque supplied to said revolving door.
 5. The method fordriving a rotation of a revolving door according to claim 4, said methodfurther comprising the additional step of:during said step of operatingsaid control circuit to decrease over time the rotational torquesupplied to said revolving door, continuing to sense a magnitude of saidat least one of said user applied force and said user impartedrotational velocity, and, if said magnitude of said at least one of saiduser applied force and said user imparted rotational velocity increases,operating said control circuit to increase the rotational torquesupplied to said revolving door.
 6. The method for driving a rotation ofa revolving door according to claim 5, said method further comprisingthe additional step of:during said step of operating said controlcircuit to cause said drive motor to decrease over time the rotationaltorque supplied to said revolving door, operating said control circuitto cause said drive motor to decrease the rotational torque supplied tosaid revolving door such that the rotational velocity of said revolvingdoor decreases in a manner substantially corresponding to a naturalcoasting of a non-powered revolving door.
 7. The method for driving arotation of a revolving door according to claim 4, said method furthercomprising the additional steps of:determining from said sensedmagnitude of said at least one of said user applied force and said userimparted rotational velocity when said at least one of said user appliedforce and said user imparted rotational velocity is substantiallydecreased over time to produce a determination of a substantial decreaseof said at least one of said user applied force and said user impartedrotational velocity over time; upon said determination of saidsubstantial decrease of said at least one of said user applied force andsaid user imparted rotational velocity over time, operating said controlcircuit to provide at least a temporary increase in the rotationaltorque supplied to said revolving door by said drive motor.
 8. Themethod for driving a rotation of a revolving door according to claim 7,said method further comprising the additional steps of:setting an upperlimit for said temporary increase in the rotational torque supplied tosaid revolving door; and when said upper limit for said temporaryincrease in the rotational torque supplied to said revolving door isreached, operating said control circuit to decrease over time therotational torque supplied to said revolving door.
 9. The method fordriving a rotation of a revolving door according to claim 8, said methodfurther comprising the additional step of:during said step of operatingsaid control circuit to cause said drive motor to decrease over time therotational torque supplied to said revolving door, operating saidcontrol circuit to cause said drive motor to decrease the rotationaltorque supplied to said revolving door such that the rotational velocityof said revolving door decreases in a manner substantially correspondingto a natural coasting of a non-powered revolving door.
 10. The methodfor driving a rotation of a revolving door according to claim 9, saidmethod further comprising the additional steps of:providing an initialactivation switch; and operating said control circuit to cause saiddrive motor to supply a rotational torque to said revolving door only ifsaid initial activation switch has been actuated.
 11. The method fordriving a rotation of a revolving door according to claim 10, saidmethod further comprising the additional step of;controlling therotational torque supplied to said revolving door by supplying saiddrive motor with pulse width modulated current.
 12. The method fordriving a rotation of a revolving door according to claim 11, saidmethod further comprising the additional steps of:measuring at least oneparameter of operation of said revolving door; and storing said at leastone measured parameter of operation of said revolving door in anon-volatile memory.
 13. The method for driving a rotation of arevolving door according to claim 12, said method further comprising theadditional step of measuring said user imparted rotational velocityusing at least one of: an incremental sensor and a tachometer generator.14. The method for driving a rotation of a revolving door according toclaim 13, wherein:said method further comprises the additional steps ofdetermining a kinetic energy contained in said revolving door to producea determined kinetic energy contained in said revolving door, andoperating said control circuit such that the rotational torque suppliedto said revolving door corresponds to said determined kinetic energycontained in said revolving door; said control circuit comprises an openloop/closed loop microprocessor control system; said method furthercomprises the additional steps of, during said step of operating saidcontrol circuit to decrease over time the rotational torque supplied tosaid revolving door, continuing to sense for a presence of said at leastone of said user applied force and said user imparted velocity, andoperating said control circuit to cause said drive motor to supply arotational torque to said revolving door which corresponds to a sensedmagnitude of said at least one of said user applied force and said userimparted velocity; and said method further comprises the steps ofmeasuring a current consumption of said drive motor and operating saidcontrol circuit to decrease over time the rotational torque supplied tosaid revolving door if said current consumption of said drive motorexceeds a specified limit.
 15. A method for driving a rotation of arevolving door about a central axis of the revolving door in response toan entry of a user thereinto, the revolving door including the centralaxis, a plurality of door panels extending radially outward from thecentral axis, a drive motor for supplying a rotational torque to therevolving door, and a control circuit for controlling the rotationaltorque supplied to the revolving door by the drive motor, said methodcomprising the steps of:sensing a magnitude of a user supplied parameterto produce a sensed magnitude of said user supplied parameter; andoperating said control circuit to cause said drive motor to supply arotational torque to said revolving door that corresponds to said sensedmagnitude of said user supplied parameter.
 16. The method for driving arotation of a revolving door according to claim 15, said method furthercomprising the additional steps of:operating said control circuit tocause said drive motor to supply a rotational torque to said revolvingdoor which substantially steadily increases over time.
 17. The methodfor driving a rotation of a revolving door according to claim 16, saidmethod further comprising the additional step of:operating said controlcircuit to limit the rotational torque supplied to said revolving doorsuch that said revolving door does not exceed a specified parameter ofmovement.
 18. The method for driving a rotation of a revolving dooraccording to claim 17, said method further comprising the additionalsteps of:determining from said sensed magnitude of said user suppliedparameter when said user supplied parameter is substantially terminatedto produce a determination of a substantial termination of said usersupplied parameter; and upon said determination of said substantialtermination of said user supplied parameter, operating said controlcircuit to cause said drive motor to decrease over time the rotationaltorque supplied to said revolving door.
 19. The method for driving arotation of a revolving door according to claim 18, said method furthercomprising the additional step of:during said step of operating saidcontrol circuit to decrease over time the rotational torque supplied tosaid revolving door, continuing to sense a magnitude of said usersupplied parameter, and, if said magnitude of said user suppliedparameter increases, operating said control circuit to increase therotational torque supplied to said revolving door.
 20. The method fordriving a rotation of a revolving door according to claim 19, saidmethod further comprising the additional step of:during said step ofoperating said control circuit to cause said drive motor to decreaseover time the rotational torque supplied to said revolving door,operating said control circuit to cause said drive motor to decrease therotational torque supplied to said revolving door such that a rotationalvelocity of said revolving door decreases in a manner substantiallycorresponding to a natural coasting of a non-powered revolving door.